A Robotic Swarm for Spill Finding and Perimeter Formation
A Robotic Swarm for Spill Finding and Perimeter Formation
复制标题
用于泄漏查找和周边形成的机器人群
DOI：
--
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Matthew O. Anderson
中科院分区：
文献类型：
--
作者：
D. Bruemmer;D. Dudenhoeffer;M. McKay;Matthew O. Anderson
翻译后摘要：本文讨论了周围的部署和任务的一个现实世界的集体的成本效益，小型移动的机器人的问题。为了摆脱集中控制的局限性，该项目使用创新的多模式通信架构（包括声学啁啾、红外线和射频传输）来分布控制。本文报道了使用社会势场-吸引力和排斥力场发出的每个机器人-作为一种手段，以协调群体行为，促进群体智能的出现，如在一个殖民地的蚂蚁或蜂群。一套C2的工具，代理工具，已经开发，使操作员注入高层次的领域知识和指导的行为，否则自主机器人。由此产生的系统允许用户与功能组进行交互，而不是向每个单独的机器人发出命令。使用现实世界的机器人集体和C2系统，爱达荷州国家工程与环境实验室进行了实验，以实证分析与使用许多小型机器人相关的好处和局限性。实验结果表明，分布式系统的根本优势，并表明我们的现实世界中实现的社会势场规模以及不同数量的机器人，并提高性能的时间和可靠性。
Abstract : This paper addresses issues surrounding deployment and tasking of a real-world collective of cost-effective, small mobile robots. To escape the limitations of centralized control, this project distributes control using an innovative, multi-modal communication architecture including acoustical chirping, infrared, and radio frequency transmissions. This paper reports on the use of social potential fields - attractive and repulsive fields emitted by each robot -- as a means to coordinate group behavior and promote the emergence of swarm intelligence as seen in a colony of ants or swarm of bees. A suite of C2 tools, AgentTools, has been developed to enable an operator to inject high-level domain knowledge and guidance into the behavior of the otherwise autonomous robots. The resulting system permits the user to interact with functional groups, rather than issuing commands to each individual robot. Using the realworld robot collective and C2 system, the Idaho National Engineering and Environmental Laboratory has performed experiments to empirically analyze the benefits and limitations associated with the use of many small-scale robots. Experimental results point to fundamental advantages of distributed systems and indicate that our real-world implementation of social potential fields scales well to varying numbers of robots and improves performance in terms of time and reliability.